\chapter{Introduction}
As an example of an industial process the \textit{catch and throw process} must run through different tasks.\\
The first task is to adjust a beam to a appropriate angle. The second step will be to release ball with an unknown size (\textbf{small}, \textbf{medium} or \textbf{big}) onto the beam and start a controller for the ball position. The ball must not be dropped in this state. The next task is to estimate the ball size from the control effort to travel the ball to the specified references. After the ball size has been determined one of the following throw strategy will be choosen.
\begin{itemize}
	\item \textbf{small}: The ball will be thrown into a basket for small balls.
	\item \textbf{medium}: The ball will be thrown into a basket for medium balls (waste basket).
	\item \textbf{big}: The ball will be dropped straight down.
\end{itemize}